Apollo 10.0
自动驾驶开放平台
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#include <vectornet_evaluator.h>
Public 成员函数 | |
VectornetEvaluator () | |
Constructor | |
virtual | ~VectornetEvaluator ()=default |
Destructor | |
void | Clear () |
Clear obstacle feature map | |
bool | VectornetProcessObstaclePosition (Obstacle *obstacle_ptr, ObstaclesContainer *obstacles_container, torch::Tensor *ptr_target_obs_pos, torch::Tensor *ptr_target_obs_pos_step, torch::Tensor *ptr_vector_mask, torch::Tensor *ptr_obstacle_data, torch::Tensor *ptr_all_obs_p_id) |
Process obstacle position to vector | |
bool | VectornetProcessMapData (FeatureVector *map_feature, PidVector *map_p_id, const int obs_num, torch::Tensor *ptr_map_data, torch::Tensor *ptr_all_map_p_id, torch::Tensor *ptr_vector_mask) |
Process map data to vector | |
bool | Evaluate (Obstacle *obstacle_ptr, ObstaclesContainer *obstacles_container) override |
Override Evaluate | |
bool | ExtractObstaclesHistory (Obstacle *obstacle_ptr, ObstaclesContainer *obstacles_container, std::vector< std::pair< double, double > > *curr_pos_history, std::vector< std::pair< double, double > > *all_obs_length, std::vector< std::vector< std::pair< double, double > > > *all_obs_pos_history, torch::Tensor *vector_mask) |
Extract all obstacles history | |
std::string | GetName () override |
Get the name of evaluator. | |
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Evaluator ()=default | |
Constructor | |
virtual | ~Evaluator ()=default |
Destructor | |
virtual bool | Evaluate (Obstacle *obstacle, ObstaclesContainer *obstacles_container, std::vector< Obstacle * > dynamic_env) |
Evaluate an obstacle | |
virtual bool | Evaluate (const ADCTrajectoryContainer *adc_trajectory_container, Obstacle *obstacle, ObstaclesContainer *obstacles_container) |
Evaluate an obstacle | |
额外继承的成员函数 | |
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std::pair< double, double > | WorldCoordToObjCoord (std::pair< double, double > input_world_coord, std::pair< double, double > obj_world_coord, double obj_world_angle) |
std::pair< double, double > | WorldCoordToObjCoordNorth (std::pair< double, double > input_world_coord, std::pair< double, double > obj_world_coord, double obj_world_angle) |
double | WorldAngleToObjAngle (double input_world_angle, double obj_world_angle) |
Eigen::MatrixXf | VectorToMatrixXf (const std::vector< double > &nums, const int start_index, const int end_index) |
Eigen::MatrixXf | VectorToMatrixXf (const std::vector< double > &nums, const int start_index, const int end_index, const int output_num_row, const int output_num_col) |
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ObstacleConf::EvaluatorType | evaluator_type_ |
在文件 vectornet_evaluator.h 第 31 行定义.
apollo::prediction::VectornetEvaluator::VectornetEvaluator | ( | ) |
Constructor
在文件 vectornet_evaluator.cc 第 38 行定义.
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virtualdefault |
Destructor
void apollo::prediction::VectornetEvaluator::Clear | ( | ) |
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overridevirtual |
Override Evaluate
Obstacle | pointer |
Obstacles | container |
实现了 apollo::prediction::Evaluator.
在文件 vectornet_evaluator.cc 第 191 行定义.
bool apollo::prediction::VectornetEvaluator::ExtractObstaclesHistory | ( | Obstacle * | obstacle_ptr, |
ObstaclesContainer * | obstacles_container, | ||
std::vector< std::pair< double, double > > * | curr_pos_history, | ||
std::vector< std::pair< double, double > > * | all_obs_length, | ||
std::vector< std::vector< std::pair< double, double > > > * | all_obs_pos_history, | ||
torch::Tensor * | vector_mask | ||
) |
Extract all obstacles history
Obstacles | container Feature container in a vector for receiving the obstacle history |
在文件 vectornet_evaluator.cc 第 389 行定义.
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inlineoverridevirtual |
Get the name of evaluator.
实现了 apollo::prediction::Evaluator.
在文件 vectornet_evaluator.h 第 105 行定义.
bool apollo::prediction::VectornetEvaluator::VectornetProcessMapData | ( | FeatureVector * | map_feature, |
PidVector * | map_p_id, | ||
const int | obs_num, | ||
torch::Tensor * | ptr_map_data, | ||
torch::Tensor * | ptr_all_map_p_id, | ||
torch::Tensor * | ptr_vector_mask | ||
) |
Process map data to vector
FeatureVector | map feature vector |
int | obstacle number |
PidVector | map p_id vector |
Tensor | map data |
Tensor | map data p_id |
在文件 vectornet_evaluator.cc 第 150 行定义.
bool apollo::prediction::VectornetEvaluator::VectornetProcessObstaclePosition | ( | Obstacle * | obstacle_ptr, |
ObstaclesContainer * | obstacles_container, | ||
torch::Tensor * | ptr_target_obs_pos, | ||
torch::Tensor * | ptr_target_obs_pos_step, | ||
torch::Tensor * | ptr_vector_mask, | ||
torch::Tensor * | ptr_obstacle_data, | ||
torch::Tensor * | ptr_all_obs_p_id | ||
) |
Process obstacle position to vector
Obstacles | pointer |
Obstacles | container |
Tensor | target obstacle position |
Tensor | target obstacle position step |
Tensor | vector mask |
Tensor | all obstacle position |
Tensor | all obstacle p_id |
Tensor | all obstacle length |
在文件 vectornet_evaluator.cc 第 45 行定义.